Omron NXR Series User Manual page 129

EtherCAT and IO-Link Communi-
cations
NXR-series IO-Link Master Unit for EtherCAT User's Manual (W640)
This section describes the EtherCAT communications and IO-Link communications of
the IO-Link Master Unit.
6-1 EtherCAT Communications........................................................................... 6-2
6-1-1 Structure of CAN Application Protocol over EtherCAT (CoE) ......................... 6-2
6-1-2 EtherCAT Slave Information Files (ESI Files) ................................................. 6-3
6-1-3 Transitions of Communications States ............................................................ 6-3
6-1-4 Process Data Objects (PDOs)......................................................................... 6-4
6-1-5 Service Data Objects (SDOs).......................................................................... 6-7
6-1-6 Communications Mode.................................................................................... 6-8
6-2 IO-Link Communications............................................................................... 6-9
6-2-1 Cyclic Communications for IO-Link Communications ..................................... 6-9
6-2-2 Message Communications for IO-Link Communications .............................. 6-12
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6
6-1